<?xml version="1.0"?>
<sdf version="1.10">
    <world name="museum_world">

        <plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics" />
        <plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands" />
        <plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster" />
        <plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
            <render_engine>ogre2</render_engine>
        </plugin>
        <plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu" />


        <!-- Scene settings — ambient light and sky color -->
        <scene>
            <ambient>1 1 1 1</ambient>
            <background>0.7 0.7 0.7 1</background>
        </scene>

        <!-- Sun — directional light shining down -->
        <light type="directional" name="sun">
            <pose>0 0 10 0 0 0</pose>
            <diffuse>1 1 1 1</diffuse>
            <specular>0.3 0.3 0.3 1</specular>
            <direction>-0.5 0.5 -1</direction>
        </light>

        <model name="ground_plane">
            <static>true</static>
            <link name="link">
                <collision name="collision">
                    <geometry>
                        <plane>
                            <normal>0 0 1</normal>
                        </plane>
                    </geometry>
                </collision>
                <visual name="visual">
                    <geometry>
                        <plane>
                            <normal>0 0 1</normal>
                            <size>100 100</size>
                        </plane>
                    </geometry>
                    <material>
                        <ambient>0.7 0.7 0.7 1</ambient>
                        <diffuse>0.5 0.5 0.5 1</diffuse>
                    </material>
                </visual>
            </link>
        </model>

        <include>
            <uri>https://assets.leetrobotics.com/1.0/leetrobotics/models/iscas_museum</uri>
            <name>iscas-museum</name>
            <pose>0 0 0 0 0 0</pose>
        </include>

    </world>
</sdf>